import numpy as np
import cv2
import glob

# termination criteria
criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)

# prepare object points, like (0,0,0), (1,0,0), (2,0,0) ....,(6,5,0)
objp = np.zeros((6*8,3), np.float32)
objp[:,:2] = np.mgrid[0:8,0:6].T.reshape(-1,2)

# Arrays to store object points and image points from all the images.
objpoints = [] # 3d point in real world space
imgpoints = [] # 2d points in image plane.

images = glob.glob('E:/dataspace/yu/yu_calib2/*.jpg')

for fname in images:
    img2 = cv2.imread(fname)
    img1 = cv2.transpose(img2)
    dw = int(img1.shape[0])
    dh = int(img1.shape[1])
    img = cv2.resize(img1, (dw,dh), interpolation=cv2.INTER_LINEAR_EXACT)  # 修改图片的尺寸
    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)

    # Find the chess board corners
    ret, corners = cv2.findChessboardCorners(gray, (8,6),None)

    # If found, add object points, image points (after refining them)
    if ret == True:
        objpoints.append(objp)

        cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
        imgpoints.append(corners)

        ####Draw and display the corners
        cv2.drawChessboardCorners(img, (8,6), corners,ret)
        cv2.imshow('img',img)
        cv2.waitKey(500)

#cv2.destroyAllWindows()
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, gray.shape[::-1], None, None)
np.savetxt("E:/dataspace/yu/yu_calib2/mtx.txt",mtx)
np.savetxt("E:/dataspace/yu/yu_calib2/dist.txt",dist)
print(ret)